The　present　micro　aerial　vehicle　(MAV)　is　lack　of　maneuverability　and　security　when　operates　in　the　restricted　environment.　To　solve　such　problem,　a　rotor　powered　disk-type　autonomous　aircraft-Micro　Aerial　Robot(MAR)　was　designed,　which　adopts　built-in　blades　and　redundant　actuators　structure　to　enhance　vehicle＇s　safety　and　robustness　,and　adopts　the　inner　and　outer　two　rotor　systems　and　disk-type　airframe　structure,　which　help　the　MAR　has　better　aerodynamic　characters　and　maneuverability　compared　to　the　common　MAV.　The　six　degrees　of　freedom　(6　DOF)　dynamic　model　was　built　using　the　Newton　-　Euler　method.　A　real-time　fault-tolerant　adaptive　control　method　was　designed　to　achieve　real-time　and　accurate　tracking　control　of　the　aircraft　when　the　parameters　associated　with　the　input　variables　suffer　uncertain　disturbance.　Simulation　of　the　simplified　mode　of　the　aircraft　were　carried　out　in　the　matlab/SIMULINK　environment,　which　verified　that　the　aircraft　had　good　maneuverability　and　robustness　which　is　necessary　when　it　works　in　the　restricted　environment.　©　2012　IEEE.